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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Hu, Yang Zhang, Jinxia Zhang, Kaihua Yuan, Yin Huang, Jiale Zhan, Zechao Wang, Xin Key Laboratory of Measurement and Control of CSE School of Automation Southeast University China School of Computer Science Nanjing University of Information Science and Technology China Advanced Ocean Institute of Southeast University China Alibaba Group China

ISBN: (纸本)9798350368741

Camouflaged object detection (COD) remains a challenging task in computer vision. Existing methods often resort to additional branches for edge supervision, incurring substantial computational costs. To address this, we propose the Co-Supervised Spotlight Shifting Network (CS3Net), a compact single-branch framework inspired by how shifting light source exposes camouflage. Our spotlight shifting strategy replaces multi-branch designs by generating supervisory signals that highlight boundary cues. Within CS3Net, a Projection Aware Attention (PAA) module is devised to strengthen feature extraction, while the Extended Neighbor Connection Decoder (ENCD) enhances final predictions. Extensive experiments on public datasets demonstrate that CS3Net not only achieves superior performance, but also reduces Multiply-Accumulate operations (MACs) by 32.13% compared to state-of-the-art COD methods, striking an optimal balance between efficiency and effectiveness. © 2025 IEEE.

关键词： Camouflaged Object Detection Efficient Network Design Network Co-supervision

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Personalized gait trajectory generation based on anthropometric features using Random Forest

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Journal of Ambient Intelligence and Humanized Computing 2023年第12期14卷 15597-15608页

作者： Ren, Shixin Wang, Weiqun Hou, Zeng-Guang Chen, Badong Liang, Xu Wang, Jiaxing Peng, Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with natural gait pattern can improve the therapeutic outputs. However, how to generate the personalized gait trajectory has not been well researched. In this paper, a personalized gait generation method based anthropometric features is proposed. Firstly, gait trajectories are fitted and simplified into Fourier coefficient vectors, which are used to represent gait trajectories. Secondly, fourteen body features are used to generate the personalized gait trajectories and the feature set is further optimized based on the minimal redundancy maximal relevance criterion for easy application on the LLRR. Then, the relationship between the optimized feature set and gait trajectories is modeled by using the RF algorithm. Finally, the performance of the proposed method is demonstrated by several comparison experiments. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Trajectories

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A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED 14

A High-Precision Edge Detection Algorithm Based on Improved ...

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14th IEEE International Conference on Cyber Technology in automation, control, and Intelligent systems, CYBER 2024

作者： Yuan, Yeborui Chen, Wenyuan Tang, Jie Yang, Jia School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics 110016 China University of Chinese Academy of Sciences Beijing100049 China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China

ISBN: (纸本)9798331506056

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology. © 2024 IEEE.

关键词： Contrastive Learning

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Quantifying controllability for Nonlinear State-Dependent Riccati Equation control

Quantifying Controllability for Nonlinear State-Dependent Ri...

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2022 International Russian automation Conference, RusAutoCon 2022

作者： Hu, Yuhui Neusypin, Konstantin Avenirovich Shen, Kai Bauman Moscow State Technical University Faculty of Computer Science and Control Systems Moscow Russia Beijing Institute of Technology School of Automation Beijing China

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

Degree of controllability (DOC) characterizes how controllable a given system is and thus quantifying controllability can facilitate the control system synthesis and optimization. In this paper, the controllability of nonlinear input-affine systems and the state-dependent-coefficient (SDC) factorization are first reviewed. A computational procedure based on the scalarization of the controllability Gramian is proposed to quantify the controllability of both system and state variables of the SDC factored system for state-dependent Riccati equation (SDRE) control. The simulation of coordinate satellite control is carried out to validate the effectiveness of the proposed DOC criterion. It is shown that SDC-parameterized models with higher DOC can promote the performance of the SDRE control algorithm. © 2022 IEEE.

关键词： controllability

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Drosophila Larvae-Inspired Soft Crawling Robot with Multimodal Locomotion and Versatile Applications

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Research 2025年第1期7卷 35-46页

作者： Qin Fang Jingyu Zhang Yinhui He Nenggan Zheng Yue Wang Rong Xiong Zhefeng Gong Haojian Lu State Key Laboratory of Industrial Control and Technology Zhejiang UniversityHangzhou 310027China Institute of Cyber-Systems and Control Zhejiang UniversityHangzhou 310027China Medical School of Zhejiang University Hangzhou 310027China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China Stomatology Hospital School of StomatologyZhejiang University School of MedicineZhejiang Provincial Clinical Research Center for Oral DiseasesKey Laboratory of Oral Biomedical Research of Zhejiang ProvinceCancer Center of Zhejiang UniversityEngineering Research Center of Oral Biomaterials and Devices of Zhejiang ProvinceHangzhou 310000China

Soft crawling robots have been widely studied and applied because of their excellent environmental adaptability and flexible ***,most existing soft crawling robots typically exhibit a single-motion mode and lack diverse *** by Drosophila larvae,this paper proposes a compact soft crawling robot(weight,13 g;length,165 mm;diameter,35 mm)with multimodal locomotion(forward,turning,rolling,and twisting).Each robot module uses 4 sets of high-power-density shape memory alloy actuators,endowing it with 4 degrees of motion *** analyze the mechanical characteristics of the robot modules through experiments and simulation *** plug-and-play modules can be quickly assembled to meet different motion and task *** soft crawling robot can be remotely operated with an external controller,showcasing multimodal motion on various material *** a narrow maze,the robot demonstrates agile movement and effective maneuvering around *** addition,leveraging the inherent bistable characteristics of the robot modules,we used the robot modules as anchoring units and installed a microcamera on the robot's head for pipeline *** robot completed the inspection in horizontal,vertical,curved,and branched pipelines,adjusted the camera view,and twisted a valve in the pipeline for the first *** research highlights the robot's superior locomotion and application capabilities,providing an innovative strategy for the development of lightweight,compact,and multifunctional soft crawling robots.

关键词： multimodal locomotion versatile applications Drosophila larvae soft crawling robot weight soft crawling robots shape memory alloy actuators

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automation 5.0: The Key to systems Intelligence and Industry 5.0

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1723-1727页

作者： Ljubo Vlacic Hailong Huang Mariagrazia Dotoli Yutong Wang Petros A.Ioannou Lili Fan Xingxia Wang Raffaele Carli Chen Lv Lingxi Li Xiaoxiang Na Qing-Long Han Fei-Yue Wang Institute of Intelligent and Integrated Systems and the School of Engineering and Built Environment Griffith UniversityNathanQLD 4111Australia Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong KongChina Department of Electrical and Information Engineering Polytechnic of Bari70126 BariItaly State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the Qingdao Academy of Intelligent IndustriesQingdao 266114China Department of Electrical Engineering-Systems University of Southern CaliforniaLos AngelesCA 90007 USA School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 Beijing Huairou Academy of Parallel Sensing Beijing 101499China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndianapolisIN 46202 USA Department of Engineering University of CambridgeCB21TN CambridgeU.K. School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Dazhou Artificial Intelligence Institute Dazhouand the Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078China

automation has come a long way since the early days of mechanization,i.e.,the process of working exclusively by hand or using animals to work with *** rise of steam engines and water wheels represented the first generation of industry,which is now called Industry Citation:***,***,***,***,***,***,***,***,***,***,***,Q.-***,and F.-***,“automation 5.0:The key to systems intelligence and Industry 5.0,”IEEE/CAA ***,vol.11,no.8,pp.1723-1727,Aug.2024.

关键词： automation machinery intelligence

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Current Problems and Solutions of Industrial control Network Intrusion Detection: A Brief Survey

Current Problems and Solutions of Industrial Control Network...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Jiang, Tianyu Zhang, Chen Wang, Rui Chai, Senchun Institute of Automation Chinese Academy of Sciences and University of Science and Technology Beijing China Beijing Institute of Technology China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems China Institute of Intelligent Information Processing and Control Beijing Institute of Technology China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

With the advancement of industrial intelligence, the Industrial Internet has been widely used in energy, manufacturing and other important industries. In recent years, security incidents have occurred frequently in industrial control network, which means that maintaining industrial control network security has become more and more important. Intrusion detection technology can actively detect abnormal behavior in the network, and is an important means to ensure the security of industrial control networks. Presently, the intrusion detection technology of industrial control network has problems such as extreme imbalance of classes and redundant interference of traffic characteristics. This paper analyzes these problems and clarifies the existing solutions for different problems in principle. © 2022 IEEE.

关键词： Network security

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Steps Toward Industry 5.0:Building“6S”Parallel Industries With Cyber-Physical-Social Intelligence

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1692-1703页

作者： Xingxia Wang Jing Yang Yutong Wang Qinghai Miao Fei-Yue Wang Aijun Zhao Jian-Ling Deng Lingxi Li Xiaoxiang Na Ljubo Vlacic School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE Macao University of Science and Technology Macao 999078China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China North Automatic Control Technology Institute Taiyuan 030006China China Huaneng Group Co. Ltd.Beijing 100031China Department of Electrical and Computer Engineering Indiana University-Purdue University Indianapolis(IUPUI)IndianapolisIN 46202 USA Department of Engineering University of CambridgeCambridgeCB21PZUK School of Engineering and Built Environment Griffith UniversityGold CoastQLD 4222Australia

Very recently,intensive discussions and studies on Industry 5.0 have sprung up and caused the attention of researchers,entrepreneurs,and policymakers from various sectors around the ***,there is no consensus on why and what is Industry 5.0 *** this paper,we define Industry 5.0from its philosophical and historical origin and evolution,emphasize its new thinking on virtual-real duality and human-machine interaction,and introduce its new theory and technology based on parallel intelligence(PI),artificial societies,computational experiments,and parallel execution(the ACP method),and cyber-physical-social systems(CPSS).Case studies and applications of Industry 5.0 over the last decade have been briefly summarized and analyzed with suggestions for its future *** believe that Industry 5.0 of virtual-real interactive parallel industries has great potentials and is critical for building smart *** are outlined to ensure a roadmap that would lead to a smooth transition from CPS-based Industry 4.0 to CPSS-based Industry 5.0 for a better world which is Safe in physical spaces,S ecure in cyberspaces,Sustainable in ecology,Sensitive in individual privacy and rights,Service for all,and Smartness of all.

关键词： ACP artificial intelligence CPS CPSS Industry 4.0 Industry 5.0 parallel industries parallel intelligence

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Analysis of coupled axial-torsional vibration of drill-string with an inclination angle 41

Analysis of coupled axial-torsional vibration of drill-strin...

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第41届中国控制会议

作者： Jiahao Zhang Chengda Lu Hengyu Huang Jun Gao Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education CCTEG Xi'an Research Institute

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drill-string vibration has a great negative influence on the safety and efficiency of geological *** that the influence of drill-string inclination is not well considered in the literature,this paper develops a novel drill-string vibration model for geological drilling with inclined ***,the correlation between the inclination angle of borehole and the axial and torsional forces on the drill-string is *** on this,a drill-string motion model with the parameters of inclination angle is ***,the bit-rock interaction is considered as two processes,axial cutting and torsional friction,and an axial-torsional coupled bit-rock interaction model with state-dependent time delay is *** combining the established drill-string motion model and bit-rock interaction model,a coupled axial-torsional vibration model of drill-string in inclined borehole is obtained with the effect of borehole wall friction taken into *** drill-string vibration model proposed in this paper is more general,and includes the existing coupled drill-string vibration model of vertical borehole,which is closer to the actual situation.

关键词： drill-string vibration drill-string inclination bit-rock interaction

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Multi-objective optimization for 10-kW rated power dynamic wireless charging systems of electric vehicles

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Science China(Information Sciences) 2022年第10期65卷 178-195页

作者： Ze ZHOU Zhitao LIU Hongye SU Liyan ZHANG State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University School of Automation Wuhan University of Technology

In this paper, we propose a method to optimize the output power, efficiency, and cost of the dynamic wireless charging(DWC) system of electric vehicles by using the transmitting coil spacing as the decision variable. In a set of transmitting equipment, we adopt a structure with two transmitting networks in parallel and derive loss models. The expressions of the output power and efficiency of the DWC system are obtained by data fitting. In addition, combined with the proposed cost function, we construct a multiobjective optimization problem on output power, efficiency, and cost. Due to the complexity of the objective function, it is difficult to solve the problem by the analytic method, and thus we propose a constrained adaptive particle swarm optimization(CAPSO) algorithm with high accuracy to solve the problem. Finally,the simulation results verify the feasibility of the proposed model. The advantages of the proposed CAPSO algorithm and the optimization results under different weight combinations are presented.

关键词： dynamic wireless charging electric vehicles multi-objective optimization constrained adaptive particle swarm optimization

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